WO2008117025A1 - Différentiel commandé - Google Patents

Différentiel commandé Download PDF

Info

Publication number
WO2008117025A1
WO2008117025A1 PCT/GB2008/000970 GB2008000970W WO2008117025A1 WO 2008117025 A1 WO2008117025 A1 WO 2008117025A1 GB 2008000970 W GB2008000970 W GB 2008000970W WO 2008117025 A1 WO2008117025 A1 WO 2008117025A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
planet
shafts
planet carrier
ring
Prior art date
Application number
PCT/GB2008/000970
Other languages
English (en)
Inventor
Robert William Thompson
Original Assignee
Qinetiq Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qinetiq Limited filed Critical Qinetiq Limited
Priority to ES08718808T priority Critical patent/ES2375677T3/es
Priority to EP08718808A priority patent/EP2125492B1/fr
Priority to US12/529,615 priority patent/US8303446B2/en
Priority to AT08718808T priority patent/ATE529317T1/de
Publication of WO2008117025A1 publication Critical patent/WO2008117025A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
    • B62D11/10—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears
    • B62D11/14—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears differential power outputs being effected by additional power supply to one side, e.g. power originating from secondary power source
    • B62D11/16—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears differential power outputs being effected by additional power supply to one side, e.g. power originating from secondary power source the additional power supply being supplied mechanically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H35/008—Gearings or mechanisms with other special functional features for variation of rotational phase relationship, e.g. angular relationship between input and output shaft

Definitions

  • the present invention relates to a controlled differential, being a mechanism for coupling two shafts and controlling their relative speeds.
  • the invention is particularly, though not exclusively, concerned with differential mechanisms for vehicular drive systems and more especially for exercising steering control of skid steered vehicles.
  • Particular applications include the steering of a battle tank, bulldozer or other skid steered vehicle equipped with a drive configuration of the kind described in WO-02/083482, WO-02/083483 or WO-2006/021745, where the present invention may be used as an alternative to the double epicyclic controlled differential disclosed therein.
  • the invention resides in a controlled differential adapted to couple two shafts and comprising: first and second ring gears arranged to turn with respective said shafts; a compound planetary gear set comprising one or more compound planet gears and a common planet carrier, a first planet gear of the or each said compound planet being in mesh with the first ring gear and a second planet gear of the or each said compound planet being in mesh with the second ring gear; the ratios of the number of gear teeth between the first ring gear and the or each said first planet gear and between the second ring gear and the or each said second planet gear being unequal; and means for controlling the rotation of said planet carrier; whereby if the planet carrier is stationary the two shafts are coupled through said ring gears and compound planet gears to turn together in the same sense with a speed difference; and rotation of the planet carrier varies the speed difference between the two shafts, the sense and magnitude of which variation depend respectively on the sense and speed of the rotation of the planet carrier.
  • the invention resides in a drive configuration for a skid steered vehicle comprising a respective drive member (such as a track drive sprocket for a tracked vehicle or a wheel hub for a wheeled vehicle) adapted to be located at each side of the vehicle; a pair of propulsion motors coupled between said drive members; a controlled differential as defined above coupled between respective shafts which are arranged to be driven by said propulsion motors; and one or more steer motors coupled to rotate the planet carrier of said differential.
  • a respective drive member such as a track drive sprocket for a tracked vehicle or a wheel hub for a wheeled vehicle
  • Figure 1 is a diagrammatic representation of one embodiment of a differential according to the invention as used in a drive configuration for a skid steered vehicle;
  • Figure 2 is a pictorial half-section through a physical embodiment of the differential of Figure 1 , with the right hand ring gear not complete;
  • Figure 3 is a pictorial view of the compound planet gear of the differential of Figures 1 and 2.
  • FIG. 1 illustrates diagrammatically one form of vehicular drive configuration within which the present invention may be found particularly useful, being a track drive arrangement for a skid steered vehicle according to WO-02/083483.
  • a transverse drive arrangement comprises two electric propulsion motors 1a and 1 b.
  • the transmission includes in each case a gear (range) change unit 2a, 2b, planetary gear reduction stage 3a, 3b, brake 4a, 4b and final drive gear reduction 5a, 5b, leading to respective track drive sprockets 6a and 6b at opposite sides of the vehicle.
  • Inboard the motor drive shafts 7a and 7b are coupled to opposite sides of a controlled differential 8 which can be driven by a coupled pair of electric steer motors 9.
  • Each range change mechanism 2a, 2b may be as described in WO-05/054712 and is integrated with the respective propulsion motor 1a, 1b so that the shafts 7a, 7b are driven by the motor rotors through the range change mechanisms and steering remains effective while making a gear change due to the permanent connection of the transmissions to the differential through shafts 7a, 7b, as described in WO- 2006/021745.
  • the components comprising propulsion motors 1a, 1b, range change mechanisms 2a, 2b, gear reductions 3a, 3b and controlled differential 8 may all be housed in a common generally cylindrical casing extending transversely of the vehicle as also shown in WO-2006/021745.
  • the mechanism of the controlled differential 8 is based on a parallel pair of planetary gear sets but comprising linked (compound) planet gears in a common planet carrier. More particularly, and referring also to Figure 2, respective annuli or ring gears 10a and 10b are splined or similarly fastened to respective drive shafts 7a, 7b (the latter not seen in Figure 2) so as to rotate with the respective drive shaft.
  • ring gear 10b is of larger diameter and has a higher number of gear teeth than ring gear 10a.
  • Each ring gear 10a, 10b meshes with respective gear portions of a compound planet gear 11 carried by a planet carrier 12.
  • the compound planet 11 (see also Figure 3) comprises a parallel pair of gears 13a, 13b united so as to turn together on a common axis - such as by welding or otherwise fastening two separate elements together or by cutting two sets of gear teeth on a single element - and is carried on needle roller bearings on a pin 14 extending across the carrier 12.
  • the gear 13b of the compound planet is of larger diameter and has a higher number of gear teeth than the gear 13a.
  • Gear 13a is in mesh with internal teeth 15a of ring gear 10a and gear 13b is in mesh with internal teeth 15b of ring gear 10b.
  • the planet carrier 12 is borne for rotation independently of the shafts 7a, 7b, such as by stub axles 16a, 16b in bearings (not shown) held in the ends of the shafts 7a, 7b, and is formed with an external ring of gear teeth 17 by which it can be driven to rotate by the steer motors 9 through a spur gear train 18.
  • the steer motors 9 are energised to hold the planet carrier 12 stationary, and that this is the condition which is intended to pertain for straight line running of the vehicle. Energising the propulsion motors 1a, 1 b to turn the drive shafts 7a, 7b in this condition rotates the ring gears 10a, 10b to cause the planet gear 11 to rotate in the stationary carrier 12.
  • the power distribution between the two shafts 7a and 7b will be determined by the torque required to drive the respective sprocket 6a, 6b, with torque being transferred through the differential from one side to the other as required e.g. in response to changing ground conditions.
  • Each such reduction stage comprises a planetary gear mechanism with a sun gear 19a, 19b coupled to the respective shaft 7a, 7b, a set of conventional planet gears 20a, 20b in a carrier 21a, 21b which is coupled to the outboard transmission train, and a fixed annulus or ring gear 22a, 22b, with the tooth numbers of the gear elements chosen to achieve the desired reduction ratios between the rings and carriers.
  • Compensation for the speed difference between the shafts 7a and 7b for straight line running could alternatively be provided by different ratios in the final drives 5a, 5b or in some other gear stages between the respective shaft 7a, 7b and drive sprocket 6a, 6b or even by choosing different sprocket or wheel sizes on opposite sides of the vehicle, or indeed by a combination of any of the indicated measures.
  • the planet carrier 12 can be run by the steer motors 9 to make up for any remaining difference as seen at the drive sprocket 6a, 6b (the manner by which turning of the carrier 12 varies the speed difference between shafts 7a, 7b being explained below).
  • the chosen tooth numbers for each gear in the differential 8 and reduction stages 3a, 3b are as follows:- ring gear 10a 37 teeth ring gear 10b 52 teeth planet gear 13a 24 teeth planet gear 13b 39 teeth sun gear 19a 27 teeth sun gear 19b 22 teeth planet gears 20a 18 teeth planet gears 20b 20 teeth ring gear 22a 63 teeth ring gear 22b 63 teeth
  • the steer motors 9 are energised to rotate the planet carrier 12 of the differential 8 in the direction and at the speed which will vary the speed difference between the shafts 7a, 7b to the extent that, taking account of the different reduction ratios in stages 3a and 3b, a speed difference is imposed on the sprockets 6a, 6b to turn the vehicle in the direction and at the rate required, while power from the side of the transmission with the slower running sprocket is regenerated to the faster running side through the differential.
  • Gear 13b will also be caused to rotate at the same rate as it revolves around inside ring gear 10b because it is fast with gear 13a, in so doing causing ring gear 10b to rotate at a rate determined by the difference between the ratios of the numbers of gear teeth between the ring gears 10a, 10b and respective planet gears 13a, 13b.
  • this rotation of ring gear 10b will be clockwise as viewed end-on from the left of Figure 2 because there is a higher ratio of gear teeth from gear 13b to gear 10b than there is from gear 13a to gear 10a and gear 10b must therefore be driven in reverse to the sense of revolution of the planet gears to compensate for the fact that gear 13b must rotate by the same amount as gear 13a per revolution of the compound planet 11.
  • While the embodiment of the differential described above features only a single compound planet gear 11 it is alternatively possible to have a plurality of compound planet gears distributed around the carrier 12, although for a given size and speed of ring gears 10a, 10b the individual planet gears would then have to be of smaller diameter and run faster than the single gear 11.
  • a single such gear is currently considered to be the preferred option as it enables relatively large gears 13a, 13b to be utilised, turning on an axis at relatively small radius from the carrier axis, and can achieve high load capacity due to the high contact ratio between the planet gear teeth and the ring gear teeth.
  • the larger ring gear 10b has a higher number of gear teeth than the smaller ring gear 10a and the larger planet gear 13b has a higher number of gear teeth than the smaller planet gear 13a, this is a consequence of choosing the same tooth sizes in both planetary gear sets but is not essential to the functioning of the invention.
  • the important characteristic is that the ratios between the ring gear and planet gear in each set differ, irrespective of the relative numbers or sizes of the teeth as between the two rings 10a, 10b and between the two planets 13a, 13b.

Abstract

L'invention porte sur un différentiel commandé destiné en particulier au fonctionnement de la commande de direction de véhicules à direction à glissement et comprenant un train d'engrenages planétaires composés (8) couplant deux arbres (7a, 7b). Les couronnes respectives (10a) et (10b) tournent avec les arbres et s'engrènent sur un engrenage planétaire composé (11) dans un porte-satellites (12), les rapports du nombre de dents d'engrenage entre chaque couronne et de chacun des engrenages respectifs (13a) ou (13b) du planétaire composé étant inégaux, de manière à obtenir le résultat suivant : lorsque le porte-satellites est fixe, les deux arbres sont couplés par l'intermédiaire du différentiel pour tourner tous deux dans le même sens mais avec des vitesses différentes, et la rotation modulée du porte-satellites permet de faire varier la différence de vitesse entre les deux arbres en fonction du sens et de la vitesse de rotation du porte-satellites.
PCT/GB2008/000970 2007-03-27 2008-03-19 Différentiel commandé WO2008117025A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ES08718808T ES2375677T3 (es) 2007-03-27 2008-03-19 Configuración de tracción para un veh�?culo dirigido por patines.
EP08718808A EP2125492B1 (fr) 2007-03-27 2008-03-19 Configuration d'entrainement pour un vehicule a direction a glissement
US12/529,615 US8303446B2 (en) 2007-03-27 2008-03-19 Controlled differential
AT08718808T ATE529317T1 (de) 2007-03-27 2008-03-19 Antriebsanordnung für ein schlupfgelenktes fahrzeug

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB0705845.6A GB0705845D0 (en) 2007-03-27 2007-03-27 Controlled differential
GB0705845.6 2007-03-27

Publications (1)

Publication Number Publication Date
WO2008117025A1 true WO2008117025A1 (fr) 2008-10-02

Family

ID=38024920

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2008/000970 WO2008117025A1 (fr) 2007-03-27 2008-03-19 Différentiel commandé

Country Status (6)

Country Link
US (1) US8303446B2 (fr)
EP (1) EP2125492B1 (fr)
AT (1) ATE529317T1 (fr)
ES (1) ES2375677T3 (fr)
GB (1) GB0705845D0 (fr)
WO (1) WO2008117025A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8485286B2 (en) 2007-07-20 2013-07-16 Qinetiq Limited Drive configuration for skid steered vehicles
WO2014206597A1 (fr) * 2013-06-28 2014-12-31 Qinetiq Limited Configurations d'entraînement pour véhicules à direction à glissement
US20230271506A1 (en) * 2020-07-27 2023-08-31 Kinetics Drive Solutions, Inc. An Electro-Mechanical Cross Steer Drive Device for a Vehicle

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0600154D0 (en) * 2006-01-06 2006-02-15 Qinetiq Ltd Controlled differential
US9150090B2 (en) * 2011-12-01 2015-10-06 Honda Motor Co., Ltd. Power transmission system
EP3690866A1 (fr) 2016-02-02 2020-08-05 DEKA Products Limited Partnership Agent électromécanique modulaire
JP6475187B2 (ja) * 2016-04-28 2019-02-27 トヨタ自動車株式会社 駆動装置
GB201608745D0 (en) * 2016-05-18 2016-06-29 Qinetiq Ltd Drive configuration for a skid steered vehicle
GB2591095B (en) * 2020-01-14 2023-11-29 Qinetiq Ltd A drive system for a skid steered vehicle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE644547C (de) * 1934-01-05 1937-05-07 Fried Krupp Akt Ges Antriebs- und Lenkvorrichtung fuer Fahrzeuge, insbesondere fuer Gleiskettenfahrzeuge
WO2002083483A1 (fr) 2001-04-17 2002-10-24 Qinetiq Limited Configuration d'entrainement d'un vehicule a direction differentielle
DE10160313A1 (de) * 2001-08-14 2003-03-20 Continental Teves Ag & Co Ohg Überlagerungsgetriebe für eine Überlagerungslenkung
US20030236146A1 (en) * 2002-06-24 2003-12-25 Pattok Eric D. Single planet steering position planetary differential
WO2005054712A1 (fr) 2003-12-02 2005-06-16 Qinetiq Limited Mecanismes de changement de vitesse
WO2006021745A1 (fr) 2004-08-26 2006-03-02 Qinetiq Limited Transmission motrice électrique

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1423940A (en) * 1922-07-25 Differential transmission mechanism
US4813506A (en) * 1987-07-13 1989-03-21 The United States Of America As Represented By The Secretary Of The Army Tracked vehicle steering mechanism
GB0109338D0 (en) 2001-04-17 2001-05-30 Secr Defence Drive configuration for a skid steered vehicle
GB2393485B (en) 2001-04-17 2004-08-18 Qinetiq Ltd Controlled differential device
GB0600154D0 (en) 2006-01-06 2006-02-15 Qinetiq Ltd Controlled differential
US7326141B2 (en) * 2006-03-13 2008-02-05 Bae Systems Information And Electronic Systems Integration Inc. Compact fault tolerant variable cross-drive electromechanical transmission

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE644547C (de) * 1934-01-05 1937-05-07 Fried Krupp Akt Ges Antriebs- und Lenkvorrichtung fuer Fahrzeuge, insbesondere fuer Gleiskettenfahrzeuge
WO2002083483A1 (fr) 2001-04-17 2002-10-24 Qinetiq Limited Configuration d'entrainement d'un vehicule a direction differentielle
DE10160313A1 (de) * 2001-08-14 2003-03-20 Continental Teves Ag & Co Ohg Überlagerungsgetriebe für eine Überlagerungslenkung
US20030236146A1 (en) * 2002-06-24 2003-12-25 Pattok Eric D. Single planet steering position planetary differential
WO2005054712A1 (fr) 2003-12-02 2005-06-16 Qinetiq Limited Mecanismes de changement de vitesse
WO2006021745A1 (fr) 2004-08-26 2006-03-02 Qinetiq Limited Transmission motrice électrique

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8485286B2 (en) 2007-07-20 2013-07-16 Qinetiq Limited Drive configuration for skid steered vehicles
WO2014206597A1 (fr) * 2013-06-28 2014-12-31 Qinetiq Limited Configurations d'entraînement pour véhicules à direction à glissement
US9975576B2 (en) 2013-06-28 2018-05-22 Qinetiq Limited Drive configurations for skid steered vehicles
EP3546320A1 (fr) 2013-06-28 2019-10-02 Qinetiq Limited Configurations d'entraînement pour véhicules à direction à glissement
US20230271506A1 (en) * 2020-07-27 2023-08-31 Kinetics Drive Solutions, Inc. An Electro-Mechanical Cross Steer Drive Device for a Vehicle

Also Published As

Publication number Publication date
EP2125492B1 (fr) 2011-10-19
ES2375677T3 (es) 2012-03-05
US8303446B2 (en) 2012-11-06
EP2125492A1 (fr) 2009-12-02
GB0705845D0 (en) 2007-05-02
ATE529317T1 (de) 2011-11-15
US20100105511A1 (en) 2010-04-29

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